PD2-C CANopen Technical Manual

Digital inputs and outputs

This controller is equipped with digital inputs and outputs.

Bit assignment

The software of the controller assigns each input and output two bits in the respective object (e.g., 60FDh Digital Inputs or 60FEh Digital Outputs):

  1. The first bit corresponds to the special function of an output or input. These functions are always available on bits 0 to 15 (inclusive) of the respective object. These include the limit switches and the home switch for the digital inputs and the brake control for the outputs.
  2. The second bit shows the output/input as a level; these are then available on bits 16 to 31.



To manipulate the value of output 2, always use bit 17 in 60FEh.

To activate the "negative limit switch" special function of input 1, set bit 0 in 3240h:01h; to query the status of the input, read bit 0 in 60FDh. Bit 16 in 60FDh also shows the status of input 1 (independent of whether or not the special function of the input was activated).

This assignment is graphically illustrated in the following drawing.

Digital inputs


Note: For digital inputs with 5 V, the length of the supply lines must not exceed 3 meters.
Note: The digital inputs are sampled once per millisecond. Signal changes at the input less than one millisecond in duration are not processed.

The following inputs are available:

Input Special function Switching threshold switchable Differential / single-ended
1 Negative limit switch yes, 5 V or 24 V (see 3240h:06h) single-ended
2 Positive limit switch yes, 5 V or 24 V (see 3240h:06h) single-ended
3 Home switch yes, 5 V or 24 V (see 3240h:06h) single-ended
4 None yes, 5 V or 24 V (see 3240h:06h) single-ended

Object entries

The value of an input can be manipulated using the following OD settings, whereby only the corresponding bit acts on the input here.

  • 3240h:01h (Special Function Enable): This bit allows special functions of an input to be switched off (value "0") or on (value "1"). If input 1 is not used as, e.g., a negative limit switch, the special function must be switched off to prevent an erroneous response to the signal generator. The object has no effect on bits 16 to 31.

    The firmware evaluates the following bits:

    • Bit 0: Negative limit switch
    • Bit 1: Positive limit switch
    • Bit 2: Home switch

    If, for example, two limit switches and one home switch are used, bits 0–2 in 3240h:01h must be set to "1".


  • 3240h:02h (Function Inverted): This bit switches from normally open logic (a logical high level at the input yields the value "1" in object 60FDh) to normally closed logic (the logical high level at the input yields the value "0"). This applies for the special functions (except for the clock and direction inputs) and for the normal inputs. If the bit has the value "0", normally open logic applies; for the value "1", normally closed logic applies.

  • 3240h:03h (Force Enable): This bit switches on the software simulation of input values if it is set to "1". In this case, the actual values are no longer used in object 3240h:04h, but rather the set values for the respective input.

  • 3240h:04h (Force Value): This bit specifies the value that is to be read as the input value if the same bit was set in object 3240h:03h.

  • 3240h:05h (Raw Value): This object contains the unmodified input value.

  • 3240h:06h (Input Range Select): This can be used to switch inputs – that are equipped with this function – from the switching threshold of 5 V (bit is "0") to the switching threshold of 24 V (bit is "1"). Bit 0 corresponds to input 1 here, bit 1 to input 2, etc.

  • 60FDh (Digital Inputs): This object contains a summary of the inputs and the special functions.

Computation of the inputs

Computation of the input signal using the example of input 1:

The value at bit 0 of object 60FDh is interpreted by the firmware as negative limit switch; the result of the complete computation is stored in bit 16.

Input Routing


To perform the assignment of the inputs more flexibly, there is a mode called Input Routing Mode. This assigns a signal of a source to a bit in object 60FDh.


This mode is activated by setting object 3240h:08h (Routing Enable) to 1.

Note: Entries 3240h:01h to 3240:04h then have no function until Input Routing is again switched off.
Note: If Input Routing is switched on, the initial values of 3242h are changed and correspond to the function of the input as it was before activation of Input Routing. The inputs of the controller behave the same with activation of Input Routing. Therefore, you should not switch back and forth between the normal mode and Input Routing.


Object 3242h determines which signal source is routed to which bit of 60FDh. Subindex 01h of 3242h determines bit 0, subindex 02h determines bit 1, and so forth. You can find the signal sources and their numbers in the following lists.

dec hex Signal source
00 00 Signal is always 0
01 01 Physical input 1
02 02 Physical input 2
03 03 Physical input 3
04 04 Physical input 4
05 05 Physical input 5
06 06 Physical input 6
07 07 Physical input 7
08 08 Physical input 8
09 09 Physical input 9
10 0A Physical input 10
11 0B Physical input 11
12 0C Physical input 12
13 0D Physical input 13
14 0E Physical input 14
15 0F Physical input 15
16 10 Physical input 16
65 41 Hall input "U"
66 42 Hall input "V"
67 43 Hall input "W"
68 44 Encoder input "A"
69 45 Encoder input "B"
70 46 Encoder input "Index"

The following table describes the inverted signals of the previous table.

dec hex Signal source
128 80 Signal is always 1
129 81 Inverted physical input 1
130 82 Inverted physical input 2
131 83 Inverted physical input 3
132 84 Inverted physical input 4
133 85 Inverted physical input 5
134 86 Inverted physical input 6
135 87 Inverted physical input 7
136 88 Inverted physical input 8
137 89 Inverted physical input 9
138 8A Inverted physical input 10
139 8B Inverted physical input 11
140 8C Inverted physical input 12
141 8D Inverted physical input 13
142 8E Inverted physical input 14
143 8F Inverted physical input 15
144 90 Inverted physical input 16
193 C1 Inverted Hall input "U"
194 C2 Inverted Hall input "V"
195 C3 Inverted Hall input "W"
196 C4 Inverted encoder input "A"
197 C5 Inverted encoder input "B"
198 C6 Inverted encoder input "Index"



Input 1 is to be routed to bit 16 of object 60FDh:

The number of the signal source for input 1 is "1". The routing for bit 16 is written in 3242h:11h.

Hence, object 3242h:11h must be set to the value "1".

Digital outputs


The outputs are controlled via object 60FEh. Here, output 1 corresponds to bit 16 in object 60FEh, output 2 corresponds to bit 17, etc., as with the inputs. The outputs with special functions are again entered in the firmware in the lower bits 0 to 15. The only bit assigned at the present time is bit 0, which controls the motor brake.


Note: Always observe the maximum capacity of the output (see Pin assignment).

The outputs are implemented as open drain. Hence, an external voltage supply is always necessary.



The digital output signal should continue to be used. For this purpose, a circuit as shown in the following figure is to be realized.

With a supply voltage of +24 V, a resistance value Rexternal of 10 kΩ is recommended.



A simple load is to be used with the digital output.

Object entries

Additional OD entries are available for manipulating the value of the outputs (see the following example for further information). As with the inputs, only the bit at the corresponding location acts on the respective output:

  • 3250h:01h: No function.

  • 3250h:02h: This is used to switch the logic from normally open to normally closed. Configured as normally open, the input outputs a logical high level if the bit is "1". With the normally closed configuration, a logical low level is output accordingly for a "1" in object 60FEh.

  • 3250h:03h: If a bit is set here, the output is controlled manually. The value for the output is then in object 3250h:4h; this is also possible for the brake output.

  • 3250h:04h: The bits in this object specify the output value that is to be applied at the output if manual control of the output is activated by means of object 3250h:03h.

  • 3250h:05h: This object has no function and is included for reasons of compatibility.

Computation of the outputs

Example for calculating the bits of the outputs:

Output Routing


The "Output Routing Mode" assigns an output a signal source; a control bit in object 60FEh:01h switches the signal on or off.

The source is selected with 3252h:01 to 05 in the "high byte" (bit 15 to bit 8). The assignment of a control bit from object 60FEh:01h is performed in the "low byte" (bit 7 to bit 0) of 3252h:01h to 05 (see following figure).


This mode is activated by setting object 3250h:08h (Routing Enable) to 1.

Note: Entries 3250h:01h to 3250:04h then have no function until "Output Routing" is switched off again.


The subindex of object 3252h determines which signal source is routed to which output. The output assignments are listed in the following:

Subindex 3252h Output Pin
01h Configuration of the brake output (if available)
02h Configuration of output 1
03h Configuration of output 2 (if available)
04h Configuration of output 3 (if available)
05h Configuration of output 4 (if available)
Note: The maximum output frequency of the brake output, output 1 and output 2 is 10 kHz. All other outputs can only produce signals up to 500 Hz.

Subindices 3252h:01h to 05h are 16 bits wide, whereby the high byte selects the signal source (e.g., the PWM generator) and the low byte determines the control bit in object 60FEh:01.

Bit 7 of 3252h:01h to 05 inverts the controller from object 60FEh:01. Normally, value "1" in object 60FEh:01 switches on the signal; if bit 7 is set, the value "0" switches on the signal.

Number in 3252:01 to 05  
00XXh Output is always "1"
01XXh Output is always "0"
02XXh Encoder signal (6063h) with frequency divider 1
03XXh Encoder signal (6063h) with frequency divider 2
04XXh Encoder signal (6063h) with frequency divider 4
05XXh Encoder signal (6063h) with frequency divider 8
06XXh Encoder signal (6063h) with frequency divider 16
07XXh Encoder signal (6063h) with frequency divider 32
08XXh Encoder signal (6063h) with frequency divider 64
09XXh Position Actual Value (6064h) with frequency divider 1
0AXXh Position Actual Value (6064h) with frequency divider 2
0BXXh Position Actual Value (6064h) with frequency divider 4
0CXXh Position Actual Value (6064h) with frequency divider 8
0DXXh Position Actual Value (6064h) with frequency divider 16
0EXXh Position Actual Value (6064h) with frequency divider 32
0FXXh Position Actual Value (6064h) with frequency divider 64



The encoder signal (6063h) is to be applied to output 1 with a frequency divider 4. The output is to be controlled with bit 5 of object 60FE:01.

  • 3250h:08h = 1 (activate routing)
  • 3252h:02h = 0405h (04XXh + 0005h) Dabei ist:
  • 04XXh: Encoder signal with frequency divider 4
  • 0005h: Selection of bit 5 of 60FE:01

The output is switched on by setting bit 5 in object 60FE:01.

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